I am currently working on an autonomous robot that requires me to build a map and navigate it. I can get a map built using the tutorial.launch file within the hector_slam_launch package, but I can't seem to get it to work in a live setting. I can record a bag file, start doing stuff (notice that it is not building a map at this point), stop recording, and play back the file and it will build the map. Am I missing something here? I understand that this might be an issue with the clock as I use the "--clock" argument to record the bag file. I'd really appreciate any help I can get because I need to resolve this quickly.
Using:
RPLIDAR A1
Edit 2:
I made some significant changes to the launch file and included all of the hector mapping stuff and I was able to get everything working, but I'm having issues with the mapping working. Hector mapping is complaining that it can't transform the odom to the map because it would need to transform into the future. If I'm not mistaken, I think the tree is supposed to go map=>odom=>base_link?
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